- Previously, on every parameter update, gripper grab was being
commanded
- This commit narrows that scope to only when we are actually
initializing the gripper
Gripper:
- Don't command gripper (via uORB `gripper` topic, which maps into an
actuator via Control Allocation) if we are already at the state we want
(e.g. Grabbed / Released) or in the intermediate state to the state we
want -> This prevents spamming on `gripper` topic
Payload Deliverer:
- Add read-once function for Gripper's released / grabbed state
- Send vehicle_command_ack for both release/grab actions.
TODO: target_system & target_component for the released/grabbed vcmd_ack
is incomplete, since we are not keeping track of the vehicle_command
that corresponds to this. This needs to be dealt with in the future, not
sure what the best solution it is for now.
Possible solutions:
- Queue-ing the vehicle command?
- Tying the gripper's action to specific vehicle command one-on-one, to make sure if we send multiple vehicle commands, we know
which command resulted in the action exactly?)
- Due to the MAVLink spec, we actually just convert enums into floating
point, so in PX4 we need to convert the float directly into integer as
well (although there can be precision issues on large numbers)
- This is a limitation in MAVLink spec, and should hopefully be
changed in MAVLink v2
- This hopefully then alerts the GCS that the command is getting
processed
- Referenced commander's `handle_command` function to implement this. As
it seems like GCS needs the acknowledgement of the command being
processed to execute such commands properly
- Also send FAILED command ack if we can't actuate the gripper
- trajectory_setpoint and vehicle_local_position_setpoint used to be
the same data type
- we got extremely lucky here that this didn't cause any issues due to
all the fields still aligning
Starting the fake position as soon as all the aiding sources stop makes
the local position immediately invalid while we could continue to navigate
for a couple of second with inertial dead-reckoning
- vehicle_imu_status can publish immediately on any measured sample
rate change or sensor error increment, but the windowed mean/variance
shouldn't necessarily reset that often
This is to prevent that that data from non-recent publications of the virtual
attitude setpoints are used in the transition code.
It removes the previous implementation where the update_transition_state()
method was only run when both mc and fw virtual att sp where recent, independetly
of whether both are used or not.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
* Changed sitl_gazebo to the advanced liftdrag plugin fork.
* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).
* Switched gazebo back to main branch, to avoid merge conflicts.
* Change simulator bridge back to what it was in main branch
* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)
* Changed SimulatorIgnitionBridge to match most recent main.
* Removed exit after dsp signature generation.
* First full test suite
* Cleaned up the muorb tests
* Improved VOXL 2 self test trigger in startup file
* Removed unneeded include file
Junwoo Hwang